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  <div class="headertitle"><div class="title">bsp_can.h</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#ifndef BSP_CAN_H</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#define BSP_CAN_H</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;<a class="code" href="fdcan_8h.html">fdcan.h</a>&quot;</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="comment">// 最多能够支持的CAN设备数</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#define CAN_MX_REGISTER_CNT 16     </span><span class="comment">// 这个数量取决于CAN总线的负载</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#define MX_CAN_FILTER_CNT (2 * 14) </span><span class="comment">// 最多可以使用的CAN过滤器数量,目前远不会用到这么多</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#define DEVICE_CAN_CNT 3           </span><span class="comment">// 根据板子设定,F407IG有CAN1,CAN2,因此为2;F334只有一个,则设为1</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment">// 如果只有1个CAN,还需要把bsp_can.c中所有的hcan2变量改为hcan1(别担心,主要是总线和FIFO的负载均衡,不影响功能)</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">/* can instance typedef, every module registered to CAN should have this variable */</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#pragma pack(1)</span></div>
<div class="foldopen" id="foldopen00015" data-start="{" data-end="};">
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="struct__.html">   15</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="struct__.html">_</a></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    FDCAN_HandleTypeDef *can_handle; <span class="comment">// can句柄</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    FDCAN_TxHeaderTypeDef txconf;    <span class="comment">// CAN报文发送配置</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    uint32_t tx_id;                <span class="comment">// 发送id</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    uint32_t tx_mailbox;           <span class="comment">// CAN消息填入的邮箱号</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    uint8_t tx_buff[8];            <span class="comment">// 发送缓存,发送消息长度可以通过CANSetDLC()设定,最大为8</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    uint8_t rx_buff[8];            <span class="comment">// 接收缓存,最大消息长度为8</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    uint32_t rx_id;                <span class="comment">// 接收id</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    uint8_t rx_len;                <span class="comment">// 接收长度,可能为0-8</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <span class="comment">// 接收的回调函数,用于解析接收到的数据</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    void (*can_module_callback)(<span class="keyword">struct </span><a class="code hl_struct" href="struct__.html">_</a> *); <span class="comment">// callback needs an instance to tell among registered ones</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keywordtype">void</span> *id;                                <span class="comment">// 使用can外设的模块指针(即id指向的模块拥有此can实例,是父子关系)</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>} CANInstance;</div>
</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="preprocessor">#pragma pack()</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="comment">/* CAN实例初始化结构体,将此结构体指针传入注册函数 */</span></div>
<div class="foldopen" id="foldopen00032" data-start="{" data-end="};">
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="struct_c_a_n___init___config__s.html">   32</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>{</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    FDCAN_HandleTypeDef *can_handle;              <span class="comment">// can句柄</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    uint32_t tx_id;                             <span class="comment">// 发送id</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    uint32_t rx_id;                             <span class="comment">// 接收id</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    void (*can_module_callback)(CANInstance *); <span class="comment">// 处理接收数据的回调函数</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="keywordtype">void</span> *id;                                   <span class="comment">// 拥有can实例的模块地址,用于区分不同的模块(如果有需要的话),如果不需要可以不传入</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>} <a class="code hl_struct" href="struct_c_a_n___init___config__s.html">CAN_Init_Config_s</a>;</div>
</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>CANInstance *CANRegister(<a class="code hl_struct" href="struct_c_a_n___init___config__s.html">CAN_Init_Config_s</a> *config);</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="keywordtype">void</span> CANSetDLC(CANInstance *_instance, uint8_t length);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>uint8_t CANTransmit(CANInstance *_instance,<span class="keywordtype">float</span> timeout);</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="afdcan_8h_html"><div class="ttname"><a href="fdcan_8h.html">fdcan.h</a></div><div class="ttdoc">This file contains all the function prototypes for the fdcan.c file.</div></div>
<div class="ttc" id="astruct___html"><div class="ttname"><a href="struct__.html">_</a></div><div class="ttdef"><b>Definition</b> bsp_can.h:16</div></div>
<div class="ttc" id="astruct_c_a_n___init___config__s_html"><div class="ttname"><a href="struct_c_a_n___init___config__s.html">CAN_Init_Config_s</a></div><div class="ttdef"><b>Definition</b> bsp_can.h:33</div></div>
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